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arXiv · 2604.00439

Reachability-Aware Time Scaling for Path Tracking

Hossein Gholampour·Logan E. Beaver
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Abstract

This paper studies tracking of collision-free waypoint paths produced by an offline planner for a planar double-integrator system with bounded speed and acceleration. Because sampling-based planners must route around obstacles, the resulting waypoint paths can contain sharp turns and high-curvature regions, so one-step reachability under acceleration limits becomes critical even when the path geometry is collision-free. We build on a pure-pursuit-style, reachability-guided quadratic-program (QP) tracker with a one-step acceleration margin. Offline, we evaluate this margin along a spline fitted to the waypoint path and update a scalar speed-scaling profile so that the required one-step acceleration remains below the available bound. Online, the same look-ahead tracking structure is used to track the scaled reference.

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BibTeXRIS

Hossein Gholampour, Logan E. Beaver. 2026-04-01. Reachability-Aware Time Scaling for Path Tracking. https://arxiv.org/abs/2604.00439

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